The interaction system has been developed in two parts : the soft witch permit to generate the scenario files and the soft that execute this scenario files. The last one control also all the interaction modules :
speech out, speech in, tactile buttons, face movement, face tracking, people tracking, domotic system, matrix of led and communication with power PC for navigation and obstacle avoidance.

A scenario is divided in a suit of task. Each task has an identification number (ID) and several pointer for the next ID, depending on the task. This define a graph. A task has two different kinds of parameters:

a) the common ones for all the task (parallel or serial task, time allocated to the task and the priority).

b)the own parameters of the task (ex: the text for the speech synthesis).

Developper@ASL:
- Antoine Lorotte)